About

This repository contains ROS 1 and ROS 2 drivers for the CANLAB CLPE-G-Series system. CLPE-G-Series is a multi camera grabber board for N2.0 GMSL camera. This drivers exposes camera images and information from CLPE-G-Series as ROS messages using the image_transport framework.

This branch contains the ROS 1 driver. For the ROS 2 driver, please switch to the main branch.

Environment(PC Specification)

• PC Model: Nuvo-8208GC
• CPU Cores : 12
• CPU Clock : 3.7Ghz
• DRAM Size : 64GB (32GB + 32GB)
• DRAM Type : DDR4

System Requirements

Requirements:

• CANLAB CLPE-G-Series with supplied PC running Ubuntu 20.04
• CLPE_G_Series_SDK
• ROS 1 Noetic

Note: It is strongly recommended to install Ubuntu 20.04 on the PC shipped with CLPE-G-Series. This way ROS 1 binaries can be installed as debian packages. If the PC is running Ubuntu 18.04, ROS 1 will need to be built from source which is not officially supported on Ubuntu 18.04. Alternatively, containers or VM may be used but the CLPE-G-Series drivers has to be properly passed through.

Setup

System dependencies

sudo apt update && sudo apt install git cmake wget gcc g++ libgstreamer-plugins-base1.0-dev python3-colcon* python3-rosdep python3-vcstool -y

ROS 1 Installation

Depending on the version of Ubuntu installed, follow the instructions in the links above to install ROS 1 Noetic binaries or from source. To source ROS 1

source /opt/ros/noetic/setup.bash # if binaries are installed
source ~/ros1_noetic/install/setup.bash # if installed from source following link above

Install CLPE SDK and ROS 1 Driver

Create workspace

mkdir -p ~/ws_clpe/src
cd ~/ws_clpe/
wget https://raw.githubusercontent.com/canlab-co/clpe_ros/noetic/clpe.repos
vcs import src < clpe.repos

Install dependencies

cd ~/ws_clpe
# source your ROS 1 workspace before this command
sudo rosdep init # if you have not done this before
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro noetic -y

Build the driver

cd ~/ws_clpe
# source your ROS 1 workspace if you have not already
catkin_make install --cmake-args -DCMAKE_BUILD_TYPE=Release
# To also build the benchmarking scripts
catkin_make install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCLPE_ROS_BUILD_BENCHMARKS=On

Run the driver

Launch

cd ~/ws_clpe
source install/setup.bash
** UYVY **
roslaunch clpe_ros clpe_ros.launch password:=<sudo-password> slave:=n encoding:=yuv422 timestamp:=xavier
** JPEG **
roslaunch clpe_ros clpe_ros.launch password:=<sudo-password> slave:=n encoding:=jpeg timestamp:=local

Note: If sudo-password is a number, say 42, you should pass it as password:=\'42\'
If you have not equipped slave CLPE-G-Series, you should enter slave:=n

By default the driver will publish topics per camera (X).

• /clpe_ros/cam_X/image_raw: The raw image published as sensor_msgs::Image.
• /clpe_ros/cam_X/compressed: The JPEG image published as sensor_msgs::CompressedImage.
• The default encoding is yuv422. For other supported encodings, see Configuration below.

Frame rate per sensor

• CLCC-G-01X 8CH
  UYVY - 30 fps
  JPEG - 30 fps
• CLCC-G-02X 8CH
  UYVY - 24~25 fps
  JPEG - 30 fps

Visualizing in Rviz

By default, images are published in yuv encoding. Rviz does not support yuv so it needs to be converted to a different format.

roslaunch clpe_ros clpe_ros.launch password:=<sudo-password> slave:=y encoding:=bgr8 timestamp:=xavier

Note that this conversion incurs significant overhead so should be avoided if performance is important.

Configuration

The driver supports the following ROS parameters to configure its behavior. The password, slave, encoding and timestamp parameters can be overwritten at run time. Other parameters can be modified within the config file

Note: If encoding is “jpeg”, timestamp must be set to “local”.

Unless specified otherwise, all parameters are read-only, that is, they must be initialized at startup and cannot be changed at runtime.